This paper presents a robust vibration control for SCARA-type robot manipulators. Some nonlinear terms in the model of robot manipulators are compensated for by nonlinear feedbak, while th others together with parameter variations, are treated as disturbances. μ-synthesis, which combines the structured singular value and H∞ control to design controllers for plants with structured uncertainty, is applied to design a feedback controller that achieves robust stability and robust performance. Then, by the model-matching method, a feedforward controller is designed to further improve the reference input tracking. Finally, simulation and experiments are conducted to check the effetiveness of the proposed control scheme.

Optimization is one of the key technologies of realizing CIMS for continuous processes. But for many industries in China, the quality of raw materials cannot be guaranteed, production circumstance is execrable and the boundary condition is sharp, so the traditional optimization methods are unable to wswolve the problem of their optimal-setting control. In this paper, a method of optimal-setting control based on integrated control is presented and employed to a sixc-zone walking beam (WB) reheat furnace. It has been proved this method can improve the slab heating quality and save energy greatly.

This paper proposed a method to set up control modes for a class of industrial processes, realizing closed-loop control on the suprivisory control level. The control system frame and the implementation of the control system have been developed in detailed. An application example has also been introduced to verify the correctness of object-oriented modeling and control method.

针对复杂工业过程具有多变量强耦合、非线性、参数时变特点，基于常规解耦控制技术的控制系统无法应用的问题，讨论了多变量智能解耦控制方法，并进行了工程化研究，提出了具有三级控制结构的基于分布式计算机控制系统（DCS）的多变量智能解耦控制技术。最后介绍了多变量智能解耦控制技术的复杂工业过程中成功应用的实例。

This paper describes a new multivariable adaptive decoupling controller combining a decoupling compensator with a generalized minimum variance technique. The controller can completely decouple closed-loop systems both dynamically and in the steay state. It can control an unstable and/or non-minimum phase system and it can control the process with an arbitrary time delay structure. The proof of global convergence for the algorithm is also given. Successful experimental results of the adaptive decoupling control for a pilot-scale binary distillation column demonstrate the effectiveness of the proposed adaptive decoupling algorithm.